Fluidic solar actuator

ABSTRACT

A solar actuator system comprising at least one actuator assembly. The actuator assembly includes: a top coupler; an angled bottom coupler having a top-end and respective first and second faces on opposing first and second sides of the top-end, the angled bottom coupler coupled to the top coupler via a one-degree-of-freedom joint between the top coupler and the angled bottom coupler; and at least a first and second actuator, with the first actuator disposed on the first side of the angled bottom coupler and the second actuator disposed on the second side of the angled bottom coupler.

CROSS REFERENCE TO OTHER APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationNo. 61/719,313 entitled FLUIDIC SOLAR ACTUATION filed Oct. 26, 2012which is incorporated herein by reference for all purposes.

This application claims priority to U.S. Provisional Patent ApplicationNo. 61/719,314 entitled BELLOW ROBOT filed Oct. 26, 2012 which isincorporated herein by reference for all purposes.

BACKGROUND OF THE INVENTION

There are a variety of actuation techniques in the world today for solaractuation. Typically, they are expensive and complicated.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

FIG. 1 is a diagram illustrating a cross section of an embodiment of afluidic actuator.

FIG. 2 is a diagram illustrating an embodiment of side wall convolutionsin cross section.

FIG. 3 is a diagram illustrating a cross section of an embodiment of afluidic actuator.

FIG. 4 is a diagram illustrating a cross section of an embodiment of afluidic actuator.

FIG. 5 is a diagram illustrating a side view of an embodiment of afluidic actuator.

FIG. 6 is a diagram illustrating three views of a fluidic actuator.

FIG. 7 is a diagram illustrating a side view of an embodiment of afluidic actuator.

FIG. 8 is a diagram illustrating an embodiment of a fabric.

FIG. 9 is a diagram illustrating cross section views of three positionsof a rolling fluidic actuator.

FIG. 10 is a diagram illustrating cross section views of three positionsof a rolling fluidic actuator.

FIG. 11 is a diagram illustrating cross section views of three positionsof a rolling fluidic actuator.

FIG. 12A is a diagram illustrating a side cross section view of rollingfluidic actuator.

FIG. 12B is a diagram illustrating a top cross section view rollingfluidic actuator.

FIG. 13 is a diagram illustrating side views of three positions of amulticonvolution rolling fluidic actuator.

FIG. 14 is a diagram illustrating a side view of an embodiment of aportion of a chamber with multiple levels of convolutions.

FIG. 15 is a diagram illustrating a side view of an embodiment of achamber with asymmetric convolutions.

FIG. 16 is a diagram illustrating a side view of an embodiment of achamber with discontinuous convolutions.

FIG. 17 is a diagram illustrating side views of an embodiment of twopositions of a rolling fluidic actuator incorporating a verticalconvolution chamber.

FIG. 18 is a diagram illustrating an embodiment of an extended verticalconvolution chamber.

FIG. 19 is a diagram illustrating an embodiment of a solar actuator.

FIG. 20 is a diagram illustrating an embodiment of a solar actuator.

FIG. 21 is a diagram illustrating an embodiment of a solar actuator.

FIG. 22 is a diagram illustrating an embodiment of a solar actuator.

FIG. 23 is a diagram illustrating an embodiment of a solar actuator.

FIG. 24 is a diagram illustrating an embodiment of double rhombusbellows.

FIG. 25 is a diagram illustrating an embodiment of a control system fora set of solar actuators.

FIG. 26 is a diagram illustrating an embodiment of a control system andfluidic routing.

FIG. 27 is a diagram illustrating an embodiment of a selector valve.

FIG. 28 is a diagram illustrating an embodiment of a selector valve.

FIG. 29 is a diagram illustrating an embodiment of a photovoltaic array.

FIG. 30 is a diagram illustrating an embodiment of a two dimensionalcontrol array.

FIG. 31 is a diagram illustrating an embodiment of an actuator array.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter; a computerprogram product embodied on a computer readable storage medium; and/or aprocessor, such as a processor configured to execute instructions storedon and/or provided by a memory coupled to the processor. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention. Unless stated otherwise, a component such as aprocessor or a memory described as being configured to perform a taskmay be implemented as a general component that is temporarily configuredto perform the task at a given time or a specific component that ismanufactured to perform the task. As used herein, the term ‘processor’refers to one or more devices, circuits, and/or processing coresconfigured to process data, such as computer program instructions.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

A solar actuator is disclosed. A solar actuator comprises a top coupler,a bottom coupler, and a plurality of fluidic bellows actuators, whereina fluidic bellows actuator of the plurality of fluidic bellows actuatorsmoves the top coupler relative to the bottom coupler.

In some embodiments, a solar actuator system comprises a centralelectronic control with a fluid carrier such as tubing or a manifolddelivering fluid to each chamber. In various embodiments, the fluidsource for a gas comprises an external compressor, a compressed gascontainer, a pump, or any other appropriate gaseous fluid source. Insome embodiments, the fluid source is external to an embedded controlsystem and controlled via an input valve with or without a regulator. Insome embodiments, the pressurized fluid is created in-situ. In someembodiments, system pressures are regulated externally to the system. Insome embodiments, system pressures are regulated internally. In someembodiments, a fluid source comprising a liquid is housed internally. Insome embodiments, a fluid source comprising a liquid is housedexternally to the system and recycled. In some embodiments, chambers areganged (e.g., connected) fluidically. In some embodiments, chambers areactuated via a valve or pump system. In various embodiments, the valveor pump system comprises a single valve per chamber, a one-to-manydemultiplexing valve for control of many outputs from a single deviceand input, matrix multiplexed chambers, array addressed chambers (e.g.,similar in topology to that used in a liquid crystal display) or anyother appropriate valve or pump system. In various embodiments, thevalve type comprises a piezo valve, a shape memory alloy valve, anelectromechanical valve, a rolling diaphragm valve, a rotary selector,an electrostatic valve, or any other appropriate valve type.

In some embodiments, the solar actuation system comprises a networkembedded based control system. The solar actuation system comprisessensors. In various embodiments, the solar actuation system comprisespressure sensors, temperature sensors, flow sensors, volume sensors,vision sensors, hall effect sensors, inclinometers, accelerometers,inertial measurement units, magnetometers, gyroscopes, interferometers,sonar sensor, reflective sensor, capacitive sensor, pressuretransducers, thermocouples, thermistors, flex sensors, humidity, UV,direct/indirect solar radiation sensors, optical sensors, spectrometers,or cameras., or any other appropriate sensors. In some embodiments, thenetwork embedded based control system is able to communicate with acentral command and control, an external calibration system, or othercontrol systems. In various embodiments, the network embedded controlsystem is able to control valves, pumps, or any other appropriatefluidic control actuators.

In various embodiments, the solar actuation system is used forredirection, reflection, or collection of electromagnetic energy sources(e.g., the sun); redirection of light to a receiver for concentratedsolar applications; positioning of a photovoltaic panel; positioning ofa concentrated photovoltaic panel; redirection of light for heating ofwater or other fluid; enhanced oil recovery; desalination; configurableoptical surfaces; atmospheric water extraction; environmental cooling orheating; redirection of light for illumination; direct chemical fuelgeneration (e.g., photochemical or thermochemical); or any otherappropriate application.

A fluidic actuator is disclosed. A fluidic actuator comprises a chamber,wherein the chamber is provided using a mass manufacturing technique,wherein the chamber is formed from a material that has a higher strengthand a higher stiffness in at least two axes relative to at most oneother axis, and wherein the chamber allows a volume change by localizedbending of a chamber wall.

A fluidic actuator comprises an actuator wherein fluid pressure orvolume is used to create either force or movement or position. Theactuator geometry and fluid pressure or fluid volume are used instead ofor in conjunction with the material properties of the actuator toprovide positioning, movement, and strength. The actuator comprises oneor more sealed fluidic chambers that respond to changes in fluidpressure or fluid volume, rather than using sliding seals to allowactuation. Pressurized volume change, and thereby mechanical work, isachieved through deformation of a thin walled pressure vessel, notthrough movement of a sliding contact seal along a surface. This allowsfor hermetic sealing (the elimination of seal leakage pathways), theelimination of seal friction, the elimination of seal wear, and theelimination of constant geometry high tolerance surfaces capable ofsustaining an effective moving seal. The actuators described may eitherbe made from a material that is inherently air or liquid tight, or mayinclude a separate open-volume actuator with an internal or integratedbladder. Volume change is created through bellows geometry, where theterm bellows is considered in its broadest definition to cover anyvariable volume continuous surface pressure vessel. The geometry isideally optimized to enable compliance in the desired degrees of freedomand relative stiffness and/or strength along non-desired degrees offreedom. Bellows inspired actuators can be created where volume changeis created through anisotropic material properties. For example,material, e.g., cloth, could be woven into a tube such that the axialdirection has large compliance, but the hoop (circumferential) directionis very stiff. Very high strength or stiffness materials can be formedinto actuators with very thin walls that can bend and create volumechange while being highly resistant to stretching and able to carry highloads.

The design of the actuator includes creating shapes such that bendingtakes place in the appropriate locations (e.g., in a chamber wall). Thecompliance properties of the chamber of the actuator and its ability todeform under pressure is created through the geometry of the designrather than the elastic properties of the material. Distributedlocalized buckling creation of a chamber wall can be used to controllarge scale buckling behavior. Bellows inspired actuators canadditionally be created where a volume change is created through thedeflection of one or more convolutions or one or more levels ofconvolutions—for example, longitudinal or hoop convolutions, orconvolutions forming ribs along a larger doughnut shaped convolution. Invarious embodiments, convolutions are additionally non-uniform,discontinuous, asymmetric in order to make complex motions possible(e.g., an actuator that creates a motion simulating a human finger), orhave any other appropriate properties. In various embodiments, the shapeof the convolutions, the number of the convolutions and the wallthickness are designed based on the expected load, the desired range ofmotion, pressure, or operating characteristics, or any other designcriteria.

The fluidic actuator is formed using a mass manufacturing technique. Forexample by blow molding, injection molding, rotational molding,3-Dimensional (3D) printing, or extrusion or any other appropriate massmanufacturing or high volume manufacturing technique. In someembodiments, the blow molding of the actuator uses plastic—for example,a thermoplastic/thermopolymer. In various embodiments, the thermoplasticfor blow molding comprises acrylonitrile butadiene styrene (ABS), polyvinyl chloride (PVC), polyethylene terephthalate glycol (PETG),polyethylene terephthalate (PET). Polycarbonate, ThermoplasticElastomers, Polyethylene (high density PE (HDPE), low density PE (LDPE),linear low density PE (LLDPE), ultra high molecular weight PE (UHMWPE)),Polypropylene (Homopolymer and Copolymer), Polystyrene, Polysulfone,Acetal, Nylon, polybutylene terphthalate (PBT), polyetheretherketone(PEEK), polytetrafluoroethylene (PTFE), polyphenylene sulfide (PPS),polyvinylidene fluoride (PVDF) or any other appropriate plastic. In someembodiments, the plastic comprises a thermoset plastic. In variousembodiments, the thermoset comprises one of the following: silicone,epoxy, polyester, polyimide, latex, polyurethane, natural rubbers,vinyl, or any other appropriate thermoset plastic. Blow molding aplastic has the advantage that polymer chains are aligned during theblow molding process, with the effect of strengthening and stiffeningthe material. Plastic is a cheap material to mass manufacture, and alarge volume of parts can be made from a single mold. In someembodiments, fibers are added to the plastic material to improvematerial strength and stiffness and to enable greater control overanisotropic properties. During design of the fluidic actuator, the blowmolding process is considered in order to ensure that the actuator isamenable to blow molded manufacturing. In some embodiments, amulti-stage blow molding process is used to apply one or morecoatings—for example, an aluminized Mylar film for improving UVresistance, fluid impermeability, temperature and chemical resistance,resistance to abrasion, etc. In some embodiments, the blow moldingprocess directly creates an airtight chamber that is used for bothstructural strength and for containing fluid. In some embodiments, themass manufacturing technique (e.g., blow molding) creates a singlematerial structure for the fluidic actuator. In some embodiments, thedesign of a convolution of the fluidic actuator is for a blow moldingmanufacturing process.

In some embodiments, the actuator is required to be low cost (e.g. largescale energy generation). In some embodiments, the actuator is requiredto be low weight (e.g. roof-top solar application). In all cases theactuator is required to be strong in the sense of providing requiredstiffness. As a material component of the actuator PET is particularlyinteresting because it is a low cost, low density material that whenelongated (e.g. through a blow molding process) can achievecomparatively high strengths.

In some embodiments, there are some cases where stiffness is a concern,for example, when trying to do precise control (e.g., in the case ofprecise open loop CNC machine type operations) as opposed to justapplying large forces (e.g., in the case of lifting heavy objects). Insome embodiments, in the realm of a high force situation—for example,when using a highly compressible gas material, stiffness is nottypically significant to overall stiffness. In the hydraulic case, wherethe fluid is largely in-compressible, the material stiffness (as opposedto the material strength), is more significant. In some embodiment, itis desirable to ignore material stiffness, except that the elastic rangeof the actuator needs to be tuned, whether by geometry or materialproperties, to the desired range of motion of the actuator in the axisof actuator motion. In some embodiments, in the axis, for example, thehoop direction, it is desirable to just build the cheapest pressurevessel possible—good cost to strength material properties.

In some embodiments, when high strength is discussed, this is defined asuse of significant anisotropic material properties, for example, the useof wire rope or fibers, or, the use of significant polymer alignmentalong the desired direction. For example, by using elongated PET (e.g.,the blow molding process stretches and aligns the polymers within thematerial, achieving far higher strengths along the axis of stretchingthan injection molding alone), the strength is greatly increased and themass/cost is reduced in that axis of stretch. In some embodiments, inthe case of a cylindrical pressure vessel, which closely relates to abellows, ideally it is desired to have twice as much strength in thehoop direction as in the axial direction. In the event that maximizingthe strength in the hoop direction and axial direction (the formerneeding to be twice the latter) and not caring about strength in thewall thickness direction, the material properties should be biased tomatch, whether this is by specific directional fiber addition andorientation, or careful control of a manufacturing process (e.g., blowmolding process) to stretch the preform in those directions. Thisprocess gets more complicated when applied to a bellows as there areoptimizations/trade offs between hoop and axial strength where it ispossible to in some cases “swap” one for the other. Point beinganisotropic properties of the bellows material ideally wants to be tunedto the bellows profile and range of motion requirements. For costcontrol purposes, it is desirable to apply material strength to thedesired material axis and not waste material strength on an axis or axesthat are not critical to the capacity of the bellows to hold pressureand exert force over the desired range of motion.

In some embodiments, therefore strength is perhaps about maximization ofchemical bond strength in those directions that are optimal for a thinwall pressure vessel—exploiting anisotropic properties, and not wastingbond strength in non-desired directions (e.g., like in the direction ofwall thickness). In some embodiments, it is also, in the plastic case,about aligning polymers for maximum strength, and not leaving them in aspaghetti-like state as in an injection molded/extruded/cast state. Notethat bellows convolutions are a way of varying these same anisotropicproperties through gross geometry while still using high strengthaligned polymers, for example, adding compliance in the axial directionwhile maximizing strength in the hoop direction and axially along theconvolution profile.

In some embodiments, flexibility is about increasing compliance in thedesired axis of range of motion—allowing the bellows to extend andthereby do work. Generally, but not always, extending and “doing work”in any other axis than the one desired is undesirable.

In various embodiments, actuator motion is constrained using multipledifferent techniques, including adding a spine or linkage, flexurespine, or other stiff element to the fluidic actuator, connectingmultiple fluidic actuators using a coupling element or other mechanism,or any other appropriate manner of constraint. In some embodiments,force is transferred and movement is defined through a linkage. Invarious embodiments, a linkage, flexible structure, spine, flexurespine, linkage, or membrane is used to convert either chamber movementor force into joint movement or force. In various embodiments, multiplechambers and either a linkage, flexure spine, spine, or a flexiblestructure are made from a single piece of material. In some embodiments,the constraining flexure elements comprise significantly elastomericmaterials to enable a range of motion and are reinforced with flexiblehigh strength fibers to enable great overall strength.

In various embodiments, configurations using 1, 2, 3, 4, or any otherappropriate number of actuators are used for applications. In someembodiments, multiple chambers are placed antagonistically so thatpressurized fluid is used to create opposing force and regulate force,position, or stiffness. In various embodiments, configurations include:1 chamber forming a 1 degree of freedom actuator, using the internalforce of the deformed chamber material to return it to a neutralposition; 1 chamber forming a 1 degree of freedom actuator where thevolume determines a shape or a joint movement; 2 chambers forming a 1degree of freedom antagonistic actuator; 3 or more chambers forming a 2degree of freedom antagonistic actuator; 4 chambers forming a 2 degreeof freedom actuator with stiffness control; or any other appropriateconfiguration. In some embodiments, the geometry is turned to enablevolume and pressure, and thereby work, to vary non-linearly withextension so as to enable non linear variable force actuation. Forexample, a blow molded actuator might be geometrically tuned to be verystrong when bent but less strong when pointing straight.

In various embodiments, techniques exist for activation and control of ablow molded fluidic actuator. Fluid movement is generally facilitated bya compressed gas or pressurized liquid source. In various embodiments,the flow in and out of chambers is either directed by valves or bypumps, or any other appropriate flow control. In some embodiments,actuator position or force is controlled by sensing any combination ofposition, velocity, volume flow rate to/from each chamber, mass flowrate into and out of each chamber, and fluid properties in each chamber(e.g., temperature, pressure, volume), and determining control signalsfrom the measured signals to close a feedback loop. In some embodiments,feedback computations are done either through analog hardware (e.g.,electronics, mechanisms) or by using a digital computing system. Forexample, sensors in a feedback control loop comprise one or more of thefollowing: pressure sensors, temperature sensors, flow sensors, volumesensors, vision sensors, Hall effect sensors, inclinometers,accelerometers, inertial measurement units, magnetometers, gyroscopes,interferometers, sonar sensor, reflective sensor, capacitive sensor,pressure transducers, thermocouples, thermistors, flex sensors. Invarious embodiments, specific geometries or linkages or flexure spinesare constructed that enable position to be controlled solely based onpressure ratio, for instance by designing a nonlinear chamber volume tojoint position relationship. In some embodiments, for actuators thatenable position to be controlled solely based on pressure ratio, theactuators exhibit a special property where actuator stiffness isactively tuned either instead of or in addition to other controls.

The fluidic actuator comprises a chamber—for example, a sealed chamberfor holding a fluid (e.g., a gas or a liquid). The chamber allows avolume change by bending (e.g., the internal volume of the sealedchamber changes as the chamber walls bend). The amount of fluid that isheld by the sealed chamber changes as the walls bend. In someembodiments, changing the volume of fluid stored in the chamber causesthe walls to bend. In some embodiments, the chamber comprises a bellows.In some embodiments, the bellows create deflection (e.g., bending). Insome embodiments, the bellows comprise convolutions (e.g., folds,ridges, etc.). In some embodiments, in the event fluid is added to orremoved from the chamber, one or more convolutions of the chamberdeflect.

In some embodiments, the fluidic actuator comprises a bellows-basedactuator including a novel use of convolutions to design elastic andnon-elastic regions in a single, homogenous material instead of usingmultiple materials or complicated processing. A monolithic inexpensiveprocess such as blow molding or injection molding is used for productionof the fluidic actuator. In some embodiments, the fluidic actuatorcomprises convolutions in axial, radial, or both directions enabling thestiffness, accuracy, and overall range of motion to be tunable viageometry instead of solely from the key material properties (e.g.,modulus of elasticity) and material thickness. In some embodiments, thefluidic actuator comprises deterministic position control based onantagonistic actuation, with either volume or pressure as the controlusing a fluidic medium such as liquid or air. Volume and pressurecontrolled systems have different geometries and requirements. Thefluidic actuator is able to achieve a large range of motion (e.g.,bending more than 90°) with high overall stiffness and high dimensionalstability.

In some embodiments, the fluidic actuator comprises a stem bellowsactuator. A stem bellows actuator comprises a stem shaped fluidicactuator capable of bending. In various embodiments, the stem bellowsactuator comprises one chamber, two chambers, three chambers, fourchambers, or any other appropriate number of chambers. In someembodiments, the chambers are configured antagonistically (e.g., thechambers push against one another in different directions). In someembodiments, the stem bellows actuator comprises a one degree of freedomactuator (e.g., the end of the actuator is capable of moving to a set ofpoints on a curve or line). In some embodiments, the stem bellowsactuator comprises a two degree of freedom actuator (e.g. the end of theactuator is capable of moving to a set of points on a surface—a flat orcurved surface). In some embodiments, the stem bellows actuatorcomprises a three degree of freedom actuator (e.g. the end of theactuator is capable of moving to a set of points within a volume or theend of the actuator is capable of moving on a curved surface whiletwisting for the third degree of freedom).

In some embodiments, the fluidic actuator additionally comprises aspine, flexure spine, or a linkage (e.g., a member that can bend but notlengthen or contract, a constraint between the end points of the spine,flexure spine, or linkage, etc.). In various embodiments, the spine,flexure spine, or linkage is integrated with the chamber (e.g., formedas part of the chamber during the blow molding process) or connected tothe chamber (e.g., formed separately from the chamber, potentially of adifferent material, and connected to the chamber in an assembly step).In some embodiments, the fluidic actuator comprises a variable stiffnessactuator (e.g., a change in pressure within the chambers can cause theactuator stiffness to change).

FIG. 1 is a diagram illustrating a cross section of an embodiment of afluidic actuator. In some embodiments, the fluidic actuator of FIG. 1comprises a stem bellows actuator. In the example shown, chamber 100comprises a one degree of freedom fluidic actuator shown in crosssection. Chamber 100 in three dimensions comprises cross section shownin FIG. 1 rotated around the axis of symmetry. Chamber 100 comprises afluid-tight chamber formed by a mass manufacturing process—for example,blow molding, injection molding, rotational molding, 3D printing, orextrusion. Chamber 100 comprises port 102. In some embodiments, port 102comprises a port for allowing a fluid to pass into and out of chamber100. In some embodiments, port 102 is connected to a fluid supply (e.g.,a compressor, a pump, a tank, etc.). In some embodiments, one or morefluid control devices is/are present in between port 102 and the fluidsupply (e.g., a regulator, a valve, etc.). In various embodiments, afluid supply connected to chamber 100 via port 102 controls a volume offluid in chamber 100, a pressure of fluid in chamber 100, a temperatureof a fluid in chamber 100, or any other appropriate fluid property. Insome embodiments, increasing the volume of fluid in chamber 100 causesthe walls of chamber 100 to bend. The convolutions (e.g., folds) in thewalls unfold in order to increase the internal volume of chamber 100 andthe chamber expands. In some embodiments, a chamber incorporatingconvolutions comprises a bellows. In some embodiments, chamber 100comprises a bellows. In some embodiments, convolutions bend to createdeflection. In some embodiments, deflection allows a volume change. Insome embodiments, the convolutions are designed so that the chamberexpands in a straight line when the internal pressure is increased,moving end 104 away from port 102. In some embodiments, decreasing orincreasing the volume of fluid in chamber 100 causes the walls ofchamber 100 to bend. The convolutions (e.g., folds) in the walls foldmore in order to decrease the internal volume of chamber 100 and thechamber contracts. In some embodiments, the convolutions are designed sothat the chamber contracts in a straight line when the internal volumeis decreased, moving end 104 towards port 102. In some embodiments,chamber 100 is designed to have a returning force (e.g., as in a spring)for returning chamber 100 to a neutral position. In some embodiments,chamber 100 is designed not to have a returning force and to remain inthe position set by the pressure or volume of fluid present in chamber100. In some embodiments, the convolutions of chamber 100 are designedso that chamber 100 expands and contracts in a straight line. In someembodiments, the convolutions of chamber 100 are designed to thatchamber 100 curves as it expands and/or contracts. In variousembodiments, chamber 100 is designed to curve as it expands and/orcontracts using asymmetric convolutions, nonuniform convolutions, aregion where convolutions are not present, nonuniform stiffness, aspine, a flexure spine, a linkage, or any other appropriate designfeature. In some embodiments, the travel of chamber 100 as it expandsand/or contracts is dictated by a mechanical restraint attached tochamber 100.

In some embodiments, chamber 100 is formed using from plastic using ablow molding process. In some embodiments, the plastic of chamber 100comprises a thermoplastic. In various embodiments, the plastic ofchamber 100 comprises polyethylene terephthalate, high densitypolyethylene, low density polyethylene, polypropylene, or any otherappropriate plastic. In some embodiments, the blow molding processaligns polymer chains of the plastic. In various embodiments, aligningpolymer chains of the plastic increases plastic strength, stiffness,elasticity, resistance to breakage, total lifetime, or any otherappropriate parameter. In some embodiments, chamber 100 comprises afluid impermeable layer (e.g., to hold fluid pressure within chamber100) and a mechanically structural layer (e.g., to hold a desiredshape). In some embodiments, a single material layer comprises both afluid impermeable layer and a mechanically structural layer. In someembodiments, the fluid impermeable layer comprises an inner materiallayer (e.g., a fluid impermeable bladder) and the mechanicallystructural layer comprises an outer material layer (e.g., a fluidpermeable but mechanically structural plastic layer). In someembodiments, fibers are added to the plastic of chamber 100 (e.g., toincrease its strength). In some embodiments, fibers added to the plasticof chamber 100 are aligned in order to anisotropically increase itsstrength (e.g., to allow compliance the direction of expansion andcontraction but increase strength in the perpendicular direction). Insome embodiments, a fabric is added to chamber 100 (e.g., wrapped aroundchamber 100, glued to chamber 100) in order to increase its strength(e.g., isotropically or anisotropically). In some embodiments, chamber100 is formed through a multiple step blow molding process (e.g.,multiple blow molding steps are used to deposit multiple plasticlayers). In various embodiments, plastic layers deposited during amultiple step blow molding process comprise a high strength plasticlayer, a fluid impermeable plastic layer, a high elasticity plasticlayer, a UV (e.g., ultraviolet light) impermeable plastic layer, a lightreflective plastic layer, a light weight plastic layer, or any otherappropriate plastic layer.

In some embodiments, an end effector is mounted on end 104. In variousembodiments, an end effector comprises a mirror, a redirector, areflector, an energy collector, or any other appropriate end effector.

FIG. 2 is a diagram illustrating an embodiment of side wall convolutionsin cross section. In some embodiments, the convolutions of FIG. 2comprise convolutions for a chamber (e.g., chamber 100 of FIG. 1)forming a bellows actuator. In the example shown, convolutions 200,convolutions 202, and convolutions 204 comprise geometries of a chamberwall (e.g., revolved to make a closed tube and repeated and for examplesealed at one end with an opening at another end). Convolutions 200comprises semicircular convolutions, convolutions 202 comprisescomposite waveform convolutions, and convolutions 204 comprisestriangular convolutions. In various embodiments, convolutions aredesigned with various profiles in order to affect the bellows stiffness,elasticity, lifetime, returning force, or any other appropriateparameter. For example, composite waveform convolutions may be chosensuch that internal stresses are evenly distributed throughout thematerial improving strength performance and while giving up range ofmotion. On the other hand, a triangle wave gives the maximum range ofmotion but at the cost of strength. Semicircular and composite waveformconvolutions may be chosen such that neighboring convolutions come incontact altering the stiffness and active cross section of the fluidicactuator. In some embodiments, convolutions are spaced with sections ofcylindrical tubing. In some embodiments, convolutions are spaced withsections of cylindrical tubing.

In some embodiments, a convolution profile should be designed so as tomeet range of motion requirements while as closely as possibleapproximating an optimal thin wall pressure vessel. That is, materialshould ideally be operated in tension at consistent stress levels,independent of whether it is a hoop or axial stress, or in which sectionof the convolution the stress is. Variable wall thickness andanisotropic properties of the material might further be tuned to aid inthis, for example, blow molding might stretch the preform in hoop morethan axial so as through polymer alignment to increase strength in hoopand increase compliance in the axial direction, though a trade offbetween optimal stress levels and range of motion will ensue.

FIG. 3 is a diagram illustrating a cross section of an embodiment of afluidic actuator. In some embodiments, the fluidic actuator of FIG. 3comprises a stem bellows actuator. In the example shown, each of chamber300 and chamber 302 comprises a one degree of freedom fluidic actuator(e.g., as in chamber 100 of FIG. 1). The combination of chamber 300 andchamber 302 comprises a two degree of freedom fluidic actuator. Port 304comprises a port for allowing fluid to enter or exit chamber 300, andport 306 comprises a port for allowing fluid to enter or exit chamber302. Flexure spine 308 comprises a flexure spine for connecting the endsof chamber 300 and chamber 302. In some embodiments, chamber 300 andchamber 302 expand and contract in response to changes in the pressureand/or volume of stored fluid (e.g., fluid entering and exiting chamber300 via port 304 and chamber 302 via port 306). In some embodiments, ifthe volumes of the fluid contained in chamber 300 and the fluidcontained in chamber 302 change in the same direction (e.g., in commonmode), the end of the actuator (e.g., flexure spine 308) moves straightin and out (e.g., motion similar to the motion of chamber 100 of FIG.1). In some embodiments, if the volumes of the fluid contained inchamber 300 and the fluid contained in chamber 302 change in oppositedirections (e.g., in differential mode), the end of the actuator (e.g.,flexure spine 308) tilts as the actuator bends to the right or left. Insome embodiments, if the volume in chamber 300 is increased and thevolume in chamber 302 is decreased, the actuator bends to the right. Insome embodiments, if the volume in chamber 300 is decreased and thevolume in chamber 302 is increased, the actuator bends to the left. Insome embodiments, a combination of common mode volume changes anddifferential mode volume changes is used to move the end of the actuatorwithin the plane of the two chambers (e.g., in two dimensions). In someembodiments, an end effector is mounted on flexure spine 308.

FIG. 4 is a diagram illustrating a cross section of an embodiment of afluidic actuator. In some embodiments, the fluidic actuator of FIG. 4comprises a stem bellows actuator. In the example shown, each of chamber400 and chamber 402 comprises a one degree of freedom fluidic actuator(e.g., as in chamber 100 of FIG. 1). In some embodiments, thecombination of chamber 400 and chamber 402 comprises a one degree offreedom stem bellows actuator. Chamber 400 and chamber 402 are connectedvia linkage 404 and stem 406. Stem 406 comprises a stem or flexure spinecapable of bending but not extending or contracting. In the event thatthe internal volume of chamber 400 and the internal volume of chamber402 change in opposite directions (e.g., in differential mode), stem 406bends, allowing the actuator to bend to the left or to the right. In theevent that the internal pressure of chamber 400 and the internalpressure of chamber 402 change in opposite directions (e.g., indifferential mode), the torque applied by the actuator will change, insome cases causing the actuator to bend to the left or to the right. Inthe event that the internal pressure of chamber 400 and the internalpressure of chamber 402 change in the same direction (e.g., in commonmode), stem 406 prevents the actuator from extending or contracting. Insome embodiments, in the event that the actuator is unloaded and at restand the internal pressure of chamber 400 and the internal pressure ofchamber 402 change in the same direction while maintaining a constantpressure ratio, the stiffness of the actuator changes (e.g., becomesstiffer or becomes more compliant) while the unloaded equilibriumposition does not change. In some embodiments, the ratio of the internalpressure of chamber 400 and the internal pressure of chamber 402determine a unique unloaded equilibrium position. In some embodiments,the constrained motion of the actuator is along a single curved line(e.g., in one dimension). In some embodiments, an end effector ismounted on linkage 404.

FIG. 5 is a diagram illustrating a side view of an embodiment of afluidic actuator. In some embodiments, the fluidic actuator of FIG. 5comprises a stem bellows actuator. In the example shown, each of chamber500, chamber 502, and chamber 504 comprises a one degree of freedomfluidic actuator (e.g., as in chamber 100 of FIG. 1). In someembodiments, the combination of chamber 500, chamber 502, and chamber504 comprises a three degree of freedom stem bellows actuator. In theexample shown, chamber 500, chamber 502, and chamber 504 are connectedvia linkage 506. The central axes of chamber 500, chamber 502, andchamber 504 are located equidistant from one another (e.g., chamber 500,chamber 502, and chamber 504 form a triangle when viewed from above). Insome embodiments, if the volumes of the fluid contained in chamber 500,the fluid contained in chamber 502, and the fluid contained in chamber504 change in the same direction (e.g., in common mode), the end of theactuator (e.g., linkage 506) moves straight in and out (e.g., motionsimilar to the motion of chamber 100 of FIG. 1). In some embodiments, ifthe volumes of the fluid contained in any two of chamber 500, chamber502, and chamber 504 change in opposite directions (e.g., indifferential mode), the end of the actuator (e.g., linkage 506) tilts asthe actuator bends (e.g., similar to the bending of the actuator of FIG.3). The stem actuator is capable of bending in six different directions(e.g., two directions for each of three separate pairs of chambers). Insome embodiments, a combination of common mode volume changes anddifferential mode volume changes is used to move the end of the actuatorin three dimensions. In some embodiments, an end effector is mounted onlinkage 506. Each of the chambers (e.g., chamber 500, chamber 502, andchamber 504) includes an opening for moving fluid in and out of each ofthe chambers.

FIG. 6 is a diagram illustrating three views of a fluidic actuator. Insome embodiments, the fluidic actuator shown in FIG. 6 comprises thefluidic actuator of FIG. 5. In the example shown, fluidic actuator 600comprises a fluidic actuator comprising three chambers shown from thefront. Fluidic actuator 602 comprises a fluidic actuator comprisingthree chambers shown from the top. Fluidic actuator 604 comprises afluidic actuator comprising three chambers shown in an isometric view.In some embodiments the bellows actuator in 600 is entirely formed outof a single continuous piece of material.

FIG. 7 is a diagram illustrating a side view of an embodiment of afluidic actuator. In some embodiments, the fluidic actuator of FIG. 7comprises a stem bellows actuator. In the example shown, each of chamber700, chamber 702, and chamber 704 comprises a one degree of freedomfluidic actuator (e.g., as in chamber 100 of FIG. 1). In someembodiments, the combination of chamber 700, chamber 702, and chamber704 comprises a two degree of freedom stem bellows actuator. In theexample shown, chamber 700, chamber 702, and chamber 704 are connectedvia linkage 706 and stem 708. In some embodiments, stem 708 comprises astem or flexure spine capable of bending but not extending orcontracting. In some embodiments, if the internal volume of the fluidcontained in any two of chamber 700, chamber 702, and chamber 704 changein opposite directions (e.g., in differential mode), the actuator willbend (e.g., similar to the bending of the actuator of FIG. 3). In someembodiments, if the internal pressure of the fluid contained in any twoof chamber 700, chamber 702, and chamber 704 change in oppositedirections (e.g., in differential mode), the torque applied by theactuator will change, in some cases causing the actuator to bend flexurespine(e.g., similar to the bending of the actuator of FIG. 3). In theevent that the internal pressure of chamber 700, the internal pressureof chamber 702, and the internal pressure of chamber 704 change in thesame direction (e.g., in common mode), stem 708 prevents the actuatorfrom extending or contracting. In some embodiments, in the event thatthe internal pressure of chamber 700, the internal pressure of chamber702, and the internal pressure of chamber 704 change in the samedirection while maintaining a constant pressure ratio, the stiffness ofthe actuator changes. In some embodiments, the ratio of internalpressures determines a unique unloaded equilibrium position.

In some embodiments, the constrained motion of the actuator is along asingle curved surface (e.g., in two dimensions). In some embodiments, anend effector is mounted on linkage 706.

FIG. 8 is a diagram illustrating an embodiment of a fabric. In someembodiments, fabric 800 is used in conjunction with a fluid-tightchamber (e.g., chamber 100 of FIG. 1). In some embodiments, fabric 800is fastened to the outside of a fluid-tight chamber. In the exampleshown, fabric 800 of FIG. 8 comprises a set of fibers. The fiberscomprise axial fibers (e.g., fiber 802) and circumferential fibers(e.g., fiber 804). The axial fibers, as shown, are able to straighten asthe fabric expands in an axial direction (e.g., as chamber 100 of FIG. 1extends). The circumferential fibers constrain the fabric circumference,preventing an included chamber from expanding circumferentially. In someembodiments, the motion of the included chamber as pressure increases isguided by fabric 800. In various embodiments, the fabric is designed toguide an included chamber to bend as volume increases, to stopincreasing at a given length, to expand into a sphere, an ellipsoid, orother desired shape, or to expand in any other appropriate way as volumeincreases.

In some embodiments, a fluidic actuator comprises a rolling bellowsactuator. A rolling bellows actuator comprises a fluidic actuatorconfiguration capable of changing the angle of a effector. In someembodiments, a rolling bellows actuator comprises a one-degree offreedom actuator (e.g., the flat surface effector rotates about a line).In some embodiments, a rolling bellows actuator comprises a two degreeof freedom actuator (e.g., the flat surface effector rotates about apoint). In various embodiments, the effector comprises one or more ofthe following: a reflector, redirector, an optical concentrator, aspectrum-splitting device, a photovoltaic, a heat collector, or anyother appropriate end-effector.

FIG. 9 is a diagram illustrating cross section views of three positionsof a rolling fluidic actuator. In the example shown, each of chamber 900and chamber 902 comprises a one degree of freedom stem bellows actuator(e.g., as in chamber 100 of FIG. 1). Chamber 900 and chamber 902 areconnected via flexure spines to cam 904. Effector 906 is mounted on cam904. If the volume of chamber 900 and the volume of chamber 902 changein opposite directions, cam 904 rotates and effector 906 tilts. If thepressure of chamber 900 and the pressure of chamber 902 change inopposite directions, the torque applied to effector 906. In someembodiments, if the pressure of chamber 900 and the pressure of chamber902 change in the same direction, cam 904 and effector 906 whilemaintaining a constant pressure ratio, the actuator stiffness increases(e.g., the external force necessary to move effector 906 increases).Actuator 908 comprises a rolling fluidic actuator actuated to tilt itseffector to the left. Actuator 910 comprises a rolling fluidic actuatoractuated to tilt its effector to the right. In some embodiments, theration of internal pressures determines a unique unloaded equilibriumposition.

FIG. 10 is a diagram illustrating cross section views of three positionsof a rolling fluidic actuator. In the example shown, each of chamber1000 and chamber 1002 comprises a one degree of freedom stem fluidicactuator (e.g., as in chamber 100 of FIG. 1). Chamber 1000 and chamber1002 are connected to effector 1006. Effector 1006 is mounted on pivot1004. If the volume of chamber 1000 and the volume of chamber 1002change in opposite directions, pivot 1004 rotates and effector 1006tilts. If the pressure of chamber 1000 and the pressure of chamber 1002change in opposite directions, the torque applied by the actuator toeffector 1006 changes. In some embodiments, if the pressure of chamber1000 and the pressure of chamber 1002 change in the same direction whilemaintaining a constant pressure ratio, pivot 1004 and effector 1006, theactuator stiffness increases (e.g., the external force necessary to moveeffector 1006 increases). Actuator 1008 comprises a rolling fluidicactuator actuated to tilt its effector to the left. Actuator 1010comprises a rolling fluidic actuator actuated to tilt its effector tothe right.

FIG. 11 is a diagram illustrating cross section views of three positionsof a rolling fluidic actuator. In the example shown, each of chamber1100 and chamber 1102 comprises a one degree of freedom stem fluidicactuator (e.g., as in chamber 100 of FIG. 1). Chamber 1100 and chamber1102 are connected to effector 1106. Effector 1106 is connected to pivot1104 via flexure spine 1112. If the volume of chamber 1100 and thevolume of chamber 1102 change in opposite directions, pivot 1104rotates, causing flexure spine 1112 and effector 1106 to tilt. If thepressure of chamber 1100 and the pressure of chamber 1102 change inopposite directions, the torque applied by the actuator to effector 1106changes. In some embodiments, if the pressure of chamber 1100 and thepressure of chamber 1102 change in the same direction while maintainingthe same pressure ratio, pivot 1104, flexure spine 1112, and effector1106, the actuator stiffness increases (e.g., the external forcenecessary to move effector 1106 increases). Actuator 1108 comprises arolling fluidic actuator actuated to tilt its effector to the left.Actuator 1110 comprises a rolling fluidic actuator actuated to tilt itseffector to the right.

FIG. 12A is a diagram illustrating a side cross section view of rollingfluidic actuator. In the example shown, each of chamber 1200 and chamber1202 comprises a chamber. In some embodiments, each of chamber 1200 andchamber 1202 comprise a bulbous chamber. In some embodiments, each ofchamber 1200 and chamber 1202 comprises a wedge-shaped chamber thatincrease in size (e.g., the angular size of the wedge) when inflated.Chamber 1202 comprises a wedge-shaped chamber inflated to a greaterdegree than chamber 1200. Chamber 1200 and chamber 1202 are mounted totriangular pivot 1204. Effector 1206 is mounted to triangular pivot 1204and attached to chamber 1200 and chamber 1202. If the volume of chamber1200 and the volume of chamber 1202 change in opposite directions,effector 1206 tilts on triangular pivot 1204. If the pressure of chamber1200 and the pressure of chamber 1202 change in opposite directions, thetorque applied to effector 1206 changes. In some embodiments, if thepressure of chamber 1200 and the pressure of chamber 1202 both increasewhile maintaining a constant pressure ratio, the actuator stiffnessincreases (e.g., the external force necessary to move effector 1206increases).Figure 12B is a diagram illustrating a top cross section viewrolling fluidic actuator. FIG. 12B illustrates a rolling fluidicactuator in top-down view. In the example shown, each of chamber 1250,chamber 1252, and 1254 comprises a chamber (e.g., a chamber as inchamber 1200 of FIG. 12A). Effector 1256 is attached to chamber 1250,chamber 1252, and chamber 1254. Effector 1256 is additionally mounted ona triangular pivot (e.g., a triangular pivot as in triangular pivot 1204of FIG. 12A). The triangular pivot comprises a cone (e.g., the shapemade by rotating triangular pivot 1204 of FIG. 12A about its verticalcenter line) contacting effector 1256 at its center point. Effector 1256can be adjusted to any appropriate angle in two dimensions (e.g. rotatedabout a horizontal line or rotated about a vertical line) by changingthe volume of chamber 1250, chamber 1252, and chamber 1254. In someembodiments, the rolling fluidic actuator of FIG. 12B comprises fourchambers (e.g., dividing effector 1256 into quarters rather thanthirds).

In some embodiments, in the event fluid is added to or removed from thechamber, one or more convolutions of the chamber deflect causing achange in orientation between the top and bottom couplers. Convolutionsof the chamber comprise folds or ridges that allow deflection.Convolutions can be designed in many different possible ways. In someembodiments, convolutions comprise radial convolutions—for example,loops formed around the chamber in the shape of a semicircle incross-section. In some embodiments, convolutions comprise longitudinalconvolutions—for example, vertical folds running the length of thechamber. In some embodiments, convolutions comprise uniformconvolutions—for example, stacked opposing semicircles of equal radius.In some embodiments, convolutions comprise nonuniform convolutions—forexample, stacked opposing semicircles of unequal radius, changing alongthe length of the chamber. In some embodiments, convolutions comprisesecondary convolutions, for example, small longitudinal convolutionsrunning along a radial convolution, or small radial convolutions along alongitudinal convolution to relieve material strain (and thereforestress) in sections where complicated coupling exists. In someembodiments, convolutions comprise discontinuous convolutions—forexample, a discontinuity where no convolutions are present existsbetween two regions of convolutions along the chamber. In someembodiments, convolutions comprise asymmetric convolutions—for example,radial convolutions that change shape or size around the radius of thechamber.

FIG. 13 is a diagram illustrating side views of three positions of amulticonvolution rolling fluidic actuator. In some embodiments, each ofchamber 1300 and chamber 1302 comprise a bulbous chamber. In someembodiments, each of chamber 1300 and chamber 1302 comprises awedge-shaped chamber that increase in size (e.g., the angular size ofthe wedge) when inflated.

In the example shown, chamber 1300 and chamber 1302 comprise multipleconvolution chambers (e.g., chambers with multiple degrees ofconvolutions). Major level convolutions are present opposite thedirection of extension (e.g., the chambers extend in an angulardirection—increasing or decreasing the angle between effector 1306 andflexure spine 1304, and the major convolutions are in a radialdirection), and smaller minor level convolutions are present oppositethe direction of the major level convolutions. In some embodiments, themajor level convolutions serve to increase compliance (e.g., reducestiffness) of the chamber, and the minor level convolutions serve toincrease compliance of the major level convolutions.

Chamber 1300 and chamber 1302 are connected to effector 1306. Effector1306 is connected to flexure spine 1304 at a pivot point. If the volumeof chamber 1300 and the volume of chamber 1302 change in oppositedirections, the pivot point rotates, causing effector 1306 to tilt. Ifthe pressure of chamber 1300 and the pressure of chamber 1302 change inopposite directions, the torque applied to effector 1306 changes. Insome embodiments, if the pressure of chamber 1300 and the pressure ofchamber 1302 change in the same direction while maintaining a constantpressure ratio, the actuator stiffness increases (e.g., the externalforce necessary to move effector 1306 increases). Actuator 1308comprises a rolling fluidic actuator actuated to tilt its effector tothe left. Actuator 1310 comprises a rolling fluidic actuator actuated totilt its effector to the right.

FIG. 14 is a diagram illustrating a side view of an embodiment of aportion of a chamber with multiple levels of convolutions. In someembodiments, the portion of a chamber comprises a portion of a chamberused in a multiconvolution actuator (e.g., the multiconvolution actuatorof FIG. 13). In the example shown, the portion of a chamber comprisesthree levels of convolutions. A first level of convolutions (e.g.,convolution 1400) comprises convolutions for allowing the chamber toexpand or contract. A second level of convolutions (e.g., convolution1402) comprises convolutions for increasing the compliance of the firstlevel of convolutions. A third level of convolutions (e.g., convolution1404) comprise convolutions for increasing the compliance of the secondlevel of convolutions. In some embodiments, multiple convolutions areabout increasing compliance so as to mitigate high strain to accommodatelarge variations in outer diameter of a chamber. In some embodiments,using multiple convolutions enables the use of a rigid plastic toachieve large range of motion. In some embodiments, secondaryconvolutions must be small compared to primary convolutions to maintainflexibility of the primary convolutions.

FIG. 15 is a diagram illustrating a side view of an embodiment of achamber with asymmetric convolutions. In some embodiments, chamber 1504comprises a one degree of freedom fluidic actuator (e.g., as in chamber100 of FIG. 1). In the example shown, chamber 1500 comprises asymmetricconvolutions. Each convolution has a large side (e.g., large side 1502)and a small side (e.g., small side 1504). Large convolutions providegreater compliance than small convolutions, causing the compliance onone side of the chamber to be greater than the compliance on the otherside of the chamber. In some embodiments, the uneven compliance causesthe chamber to bend as it expands and contracts. In some embodiments,the convolutions on a chamber can be designed to give the chamber adesired shape when expanded (e.g., S-curve, spiral, etc.).

FIG. 16 is a diagram illustrating a side view of an embodiment of achamber with discontinuous convolutions. In some embodiments, chamber1600 comprises a one degree of freedom fluidic actuator (e.g., as inchamber 100 of FIG. 1). In the example shown, chamber 1600 comprisesconvolutions including a discontinuity. Discontinuity 1602 comprises asection that remains straight and not deformed as the volume of chamber1600 changes. In some embodiments, chamber 1600 changes in the shape ofa curling finger as the volume changes (e.g., bending regions includingasymmetric convolutions simulate knuckles, and straight regionsincluding discontinuities simulate bones).

FIG. 17 is a diagram illustrating side views of an embodiment of twopositions of a fluidic actuator incorporating a vertical convolutionchamber. In the example shown, each of chamber 1700 and chamber 1702comprises a vertical convolution chamber. In some embodiments, avertical convolution chamber comprises a chamber including verticalconvolutions (e.g. that cause the diameter of the chamber to expand andcontract when the internal volume changes, rather than the length).Chamber 1700 and chamber 1702 are connected to effector 1706. Effector1706 is mounted on pivot 1704. If the volume of chamber 1700 and thevolume of chamber 1702 change in opposite directions, pivot 1704 rotatesand effector 1706 tilts. If the pressure of chamber 1700 and thepressure of chamber 1702 change in opposite directions, the torqueapplied to effector 1706 changes. In some embodiments, if the pressureof chamber 1700 and the pressure of chamber 1702 change in the samedirection while maintaining a constant pressure ration, pivot 1704 andeffector 1706 do not move. In some embodiments, if the volume of chamber1700 and the volume of chamber 1702 both increase, the actuatorstiffness increases (e.g., the external force necessary to move effector1706 increases). Actuator 1708 comprises a fluidic actuator actuated totilt its effector to the right.

FIG. 18 is a diagram illustrating an embodiment of an extended verticalconvolution chamber. In the example shown, chamber 1800 comprises avertical convolution chamber (e.g., as in chamber 1700 of FIG. 17).Chamber 1800 comprises multiple stacked levels of vertical convolutionchambers, in order to increase the total extension possible when thechamber volume is increased. In some embodiments, chamber 1800 comprisesa multiple convolution chamber (e.g., including circumferential primaryconvolutions and vertical secondary convolutions).

A solar actuator system comprises a fluidic actuator. The fluidicactuator comprises at least two push-push (e.g., antagonisticallyactuated) linked chambers used to position control an end-effector inone or two axes. A fluidic actuator controlling an end-effector in oneaxis comprises two or more chambers. A fluidic actuator controlling anend-effector in two axes comprises three or more chambers. Theend-effector comprises one or more tools for the collection orredirection of energy (e.g., photons or other light energy). In variousembodiments, the end-effector comprises a reflector, redirector, anoptical concentrator, a spectrum-splitting device, a photovoltaic, aheat collector, or any other appropriate end-effector. In someembodiments, the fluid in the chambers of the fluidic actuator comprisesa liquid. When the fluid in the chambers of the fluidic actuatorcomprises a liquid, the actuator position is determined by differentialsbetween the volumes in each chamber of the actuator or by the ratio ofpressures in the chambers. In some embodiments, the fluid in thechambers of the fluidic actuator comprises a gas. When the fluid in thechambers of the fluidic actuator comprises a gas, the actuator positionis determined by the differential in pressure between the chambers ofthe actuator. In some embodiments, when the fluid in the chambers of thefluidic actuator comprises a gas, the actuator position is determined bythe ratio of pressure in the chambers of the actuator; the actuatorstiffness is determined by the magnitude of the pressure in the chambersof the actuator; the maximum deflection under loading can be tuned byincreasing or decreasing the maximum control pressures required by thesystem; the maximum deflection under loading can be actively changed inresponse to the environment; and external loads can be detected bymonitoring pressure and the overall system pressures can be increased ordecreased in response.

In some embodiments, the fluidic actuator comprises a bellows actuator.The bellows convolutions are designed to increase the effective areaunder which pressure acts when compressed. For a given bellows endforce, the required bellows pressure varies with the extension of theactuator. In various embodiments, the convolutions have a uniformlyinward curvature, the convolutions are semicircular, the convolutionsare elliptical (e.g., to allow for a desired compliance and range ofmotion on the end-effector), the convolutions are sinusoidal, or theconvolutions have any other appropriate profile. In some embodiments,the convolution profile is used to change the bellows force profile andrange of motion. In some embodiments, a mechanical structure fixes aportion of the end-effector with respect to the bottom coupler of theactuator. In various embodiments, the mechanical structure comprises acable, a universal joint, a flexure, a hinge, a pivot, a slider, a rackand pinion, a four-bar-linkage, a gear chain, a crank, a living hinge,or any other appropriate mechanical structure or flexure joint. In someembodiments, the fluidic actuator is formed from a blow-moldedthermopolymer. In some embodiments, a multi-stage blow-molding processis used (e.g., for environmental protection such as UV protection).

In some embodiments, the fluidic actuator comprises a rhombus actuator.In some embodiments, a rhombus actuator comprises two four-bar-linkagebased chambers. An outer side of each four-bar linkage is grounded, andthe connecting inner side is linked via a kinematic linkage to the otherchamber. To increase the range of motion, additional sets of chamberscan be added and pressure-ganged to the adjacent chamber. The linkagecan also be used to gear the actuator to change the range of motion. Thedifferential in control pressures determines the angle. The pressureratio in the chambers causes the chambers to increase or decrease involume. The coupling of the two vessels results in a displacement of theend-effector. In some embodiments, the actuator comprises an inherentlyfluid-tight closed volume. In some embodiments, the actuator comprises aseparate open-volume actuator with an internal bladder. In variousembodiments, the linkage is injection-molded, extruded, or formed by anyother appropriate forming process. In some embodiments, the linkage isairtight. In some embodiments, the linkage incorporates an airtightbladder. In various embodiments, a bladder for the linkage isblow-molded, extruded, co-extruded with an axial reinforcement,co-extruded with a radial reinforcement, or formed by any otherappropriate forming process.

In some embodiments, the fluidic actuator comprises a bulbous actuator.In some embodiments, a bulbous actuator comprises a deformable geometrywith a closed bladder (e.g., a bulb) for rotating an end-effector in onedimension. In some embodiments, the bulb is completely compliant tobending. The bulb rolls flat against a positioning surface (e.g., whennot inflated) and expands out into a circular arc. The circular portionis tangent to the spine (e.g., the axis of rotation of the end-effector)and the positioning coupler. The circular portion does not apply amoment about the pivot point unless the center of rotation is notcoincident with the positioning surface, in which case the tangentialforce from the arc applies a moment on the mechanism. The contact areaunder the positioning coupler is an inverse function of the area sweptout by the actuator. In some embodiments, multiple bulbs are used oneither side of the positioning coupler to increase range of motion,accuracy, and/or accuracy/mass ratio. In various embodiments, the bulbis blow molded, extruded, co-extruded with axial reinforcement,co-extruded with radial reinforcement, or formed in any otherappropriate way. In some embodiments, secondary convolutions are addedto increase compliance. In some embodiments, the secondary convolutionsare added around the ends of bulb. In some embodiments, the bulb isconstructed from a coated largely impermeable textile formed into a tubewith closed and sealed ends.

FIG. 19 is a diagram illustrating an embodiment of a solar actuator. Inthe example shown, solar actuator 1900 comprises top coupler 1902,bottom coupler 1904, bellows actuator 1906, bellows actuator 1908, andbellows actuator 1910. In some embodiments, solar actuator 1900additionally comprises a fourth bellows actuator, hidden behind bellowsactuator 1906, bellows actuator 1908, and bellows actuator 1910. Invarious embodiments, solar actuator 1900 comprises one, two, three,four, or any other appropriate number of bellows actuators. In variousembodiments, one or more of bellows actuator 1906, bellows actuator1908, and bellows actuator 1910 comprise blow molded actuators. In someembodiments, bellows actuator 1906, bellows actuator 1908, and bellowsactuator 1910 move top coupler 1902 relative to bottom coupler 1904. Insome embodiments, the position of top coupler 1902 relative to bottomcoupler 1904 is determined by the pressure in bellows actuator 1906,bellows actuator 1908, and bellows actuator 1910. In some embodiments,the position of top coupler 1902 relative to bottom coupler 1904 isdetermined by the volume of bellows actuator 1906, bellows actuator1908, and bellows actuator 1910. In some embodiments, the amount ofdeflection under loading of top coupler 1902 relative to bottom coupler1904 is determined at least in part by the average pressure in bellowsactuator 1906, bellows actuator 1908, and bellows actuator 1910. In someembodiments, each of bellows actuator 1906, bellows actuator 1908, andbellows actuator 1910 comprises a chamber as in chamber 100 of FIG. 1.In some embodiments, each of bellows actuator 1906, bellows actuator1908, and bellows actuator 1910 comprises a stem bellows actuator. Insome embodiments, the faces of top coupler 1902 and bottom coupler 1904contacted by each of bellows actuator 1906, bellows actuator 1908, andbellows actuator 1910 are parallel. In some embodiments, solar actuator1900 comprises a stem actuator.

In some embodiments, solar actuator 1900 additionally comprises a fixingstructure for fixing a top coupler point to a bottom coupler point. Invarious embodiments, the fixing structure comprises a cable, a universaljoint, a flexure, or any other appropriate fixing structure. In someembodiments, solar actuator 1900 additionally comprises an end effectorcoupled to top coupler 1902. In various embodiments, the end effectorcomprises a redirector, a reflector, a collector, an opticalconcentrator, a spectrum splitting device, a photovoltaic material, aheat collector, or any other appropriate end effector.

FIG. 20 is a diagram illustrating an embodiment of a solar actuator. Inthe example shown, solar actuator 2000 comprises top coupler 2002,bottom coupler 2004, bellows actuator 2006, bellows actuator 2008,bellows actuator 2010, and bellows actuator 2012. In variousembodiments, one or more of bellows actuator 2006, bellows actuator2008, bellows actuator 2010, and bellows actuator 2012 comprise massmanufactured actuators. In some embodiments, bellows actuator 2006,bellows actuator 2008, bellows actuator 2010, and bellows actuator 2012move top coupler 2002 relative to bottom coupler 2004. In someembodiments, solar actuator 2000 additionally comprises a fixingstructure for fixing a top coupler point to a bottom coupler point. Invarious embodiments, the fixing structure comprises a cable, a universaljoint, a flexure, or any other appropriate fixing structure. In someembodiments, solar actuator 2000 additionally comprises an end effectorcoupled to top coupler 2002. In various embodiments, the end effectorcomprises a redirector, a reflector, a collector, an opticalconcentrator, a spectrum splitting device, a photovoltaic material, aheat collector, or any other appropriate end effector. In someembodiments, the faces of top coupler 2002 and bottom coupler 2004contacted by each of bellows actuator 2006, bellows actuator 2008,bellows actuator 2010, and bellows actuator 2012 are not parallel. Insome embodiments, the faces of top coupler 2002 and bottom coupler 2004contacted by each of bellows actuator 2006, bellows actuator 2008,bellows actuator 2010, and bellows actuator 2012 are perpendicular. Insome embodiments, solar actuator 2000 comprises a grub actuator.

FIG. 21 is a diagram illustrating an embodiment of a solar actuator. Inthe example shown, solar actuator 2100 comprises top coupler 2102,bottom coupler 2104, bellows actuator 2106 and bellows actuator 2108. Invarious embodiments, one or more of bellows actuator 2106 and bellowsactuator 2108 comprise mass manufactured actuators. In some embodiments,bellows actuator 2106 and bellows actuator 2108 move top coupler 2102relative to bottom coupler 2104. In some embodiments, the angularposition of top coupler 2102 relative to bottom coupler 2104 depends onthe relative pressure of bellows actuator 2106 and bellows actuator2108. In some embodiments, solar actuator 2100 additionally comprises afixing structure for fixing a top coupler point or points to a bottomcoupler point or points. In various embodiments, the fixing structurecomprises a cable, a universal joint, a flexure, or any otherappropriate fixing structure. Solar actuator 2100 additionally comprisesend effector 2110 coupled to top coupler 2102. In the example shown, endeffector 2110 comprises a solar concentrator. In the example shown,solar actuator 2100 comprises a rolling actuator. In some embodiments,solar actuator 2110 comprises a bulbous actuator.

FIG. 22 is a diagram illustrating an embodiment of a solar actuator. Inthe example shown, solar actuator 2200 comprises top coupler 2202,bottom coupler 2204, bellows actuator 2206 and bellows actuator 2208. Invarious embodiments, one or more of bellows actuator 2206 and bellowsactuator 2208 comprise mass manufactured actuators. In some embodiments,bellows actuator 2206 and bellows actuator 2208 comprises rhombusbellows. In some embodiments, bellows actuator 2206 and bellows actuator2208 move top coupler 2102 relative to bottom coupler 2204. In someembodiments, the angular position of top coupler 2202 relative to bottomcoupler 2204 depends on the relative pressure of bellows actuator 2206and bellows actuator 2208. In some embodiments, solar actuator 2200additionally comprises a fixing structure for fixing a top coupler pointto a bottom coupler point. In various embodiments, the fixing structurecomprises a cable, a universal joint, a flexure, or any otherappropriate fixing structure. Solar actuator 2200 comprises a rollingactuator. In some embodiments, solar actuator 2210 comprises a rhombusactuator. Solar actuator 2210 comprises solar actuator 2200 with topcoupler 2212 tilted left. Solar actuator 2214 comprises solar actuator2200 with top coupler 2216 tilted right.

FIG. 23 is a diagram illustrating an embodiment of a solar actuator. Inthe example shown, solar actuator 2300 comprises top coupler 2302,bottom coupler 2304, bellows actuator 2306 and bellows actuator 2308. Invarious embodiments, one or more of bellows actuator 2306 and bellowsactuator 2308 comprise mass manufactured actuators. In some embodiments,bellows actuator 2306 and bellows actuator 2308 comprises a rhombusbellows. In some embodiments, bellows actuator 2306 and bellows actuator2308 move top coupler 2302 relative to bottom coupler 2304. In someembodiments, the angular position of top coupler 2302 relative to bottomcoupler 2304 depends on the relative pressure of bellows actuator 2306and bellows actuator 2308. In some embodiments, solar actuator 2300additionally comprises a fixing structure for fixing a top coupler pointto a bottom coupler point. In various embodiments, the fixing structurecomprises a cable, a universal joint, a flexure, or any otherappropriate fixing structure. In the example shown, solar actuator 2300comprises a rolling actuator. In some embodiments, solar actuator 2310comprises a rhombus actuator.

FIG. 24 is a diagram illustrating an embodiment of double rhombusbellows. In some embodiments, double rhombus bellows are used in arhombus actuator (e.g., solar actuator 2200 of FIG. 22 or solar actuator2300 of FIG. 23). In the example shown, double rhombus bellows 2400comprises rhombus bellows 2402 and rhombus bellows 2404. In someembodiments, a rhombus bellows expands an angular distance for a givenchange in internal pressure. In some embodiments, a double rhombusbellows expands twice the distance of a rhombus bellows for the samechange in internal pressure.

FIG. 25 is a diagram illustrating an embodiment of a control system fora set of solar actuators. In some embodiments, the control system ofFIG. 25 comprises a control system for controlling solar actuators(e.g., solar actuator 1900 of FIG. 19). In the example shown, fluidicsource 2500 is modulated by control system and fluidic routing 2502 tocontrol a set of solar actuators (e.g., solar actuator 2504). In variousembodiments, the set of solar actuators comprises 4 solar actuators 7solar actuators, 15 solar actuators, 122 solar actuators, 1566 solaractuators, or any other appropriate number of solar actuators. Thecontrol system of the solar actuators controls the solar actuators topositions appropriate for the solar system. For example, redirectors orreflectors are positioned to concentrate solar light at a receiver(e.g., a power generating system, a desalinization system, etc.). Forexample, solar panels on the actuators are positioned perpendicular tothe solar light.

FIG. 26 is a diagram illustrating an embodiment of a control system andfluidic routing. In some embodiments, the control system and fluidicrouting of FIG. 26 comprises control system and fluidic routing 2502 ofFIG. 25. In the example shown, controlled fluid source 2600 passesthrough selector valve 2602 and into one of ports 2604. In variousembodiments, ports 2604 comprises 4 ports, 13 ports, 22 ports, 5433ports, or any other appropriate number of ports. In some embodiments,selector valve 2602 is capable of directing controlled fluid source 2600to only one of ports 2604. In some embodiments, selector valve 2602 iscapable of directing controlled fluid source 2600 to more than one ofports 2604. In some embodiments, a pump drives a single actuator and novalves are required. In some embodiments, N pumps drives M actuators andvalves are or are not used as appropriate for the system to direct fluidand control actuation.

FIG. 27 is a diagram illustrating an embodiment of a selector valve. Insome embodiments, selector valve 2700 comprises selector valve 2602 ofFIG. 26. In the example shown, selector valve 2700 comprises centralpressure inlet tube 2702, selector ring 2704, and one or more ports(e.g., port 2706). In the example shown, central pressure inlet tube2702 is connected to a controlled fluid source. Selector ring 2704 isturned until depression 2708 faces the desired port (e.g., in this caseport 2706). Pressure can then move from central pressure inlet tube 2702through the desired port. In some embodiments, multiple selector valvessimilar to selector valve 2700 are used to provide multiple actuatorswith fluids. In some embodiments, one selector valve is used to providemultiple actuators with fluids by ganging the output tubes.

FIG. 28 is a diagram illustrating an embodiment of a selector valve. Insome embodiments, selector valve 2800 comprises selector valve 2602 ofFIG. 26. In the example shown, selector valve 2800 comprises centralpressure inlet tube 2802, selector 2804, one or more selector tabs(e.g., selector tab 2806), and one or more ports (e.g., port 2808). Insome embodiments, each selector tab has an associated port. Centralpressure inlet tube 2802 is connected to a controlled fluid source.Selector 2804 is turned until its tip contacts the desired selector tab(e.g., in this case selector tab 2806). When the selector tip contacts aselector tab, pressure from central pressure inlet tube 2802 can movethrough the selected port (e.g., the port associate with the selectedselector tab).

FIG. 29 is a diagram illustrating an embodiment of a photovoltaic array.In some embodiments, photovoltaic array 2900 comprises a one dimensionalphotovoltaic array. In some embodiments, photovoltaic array 2900 iscontrolled using the control system and fluidic routing of FIG. 26. Inthe example shown, mirror array 2900 comprises a set of rolling bellowsactuators (e.g., rolling bellows actuator 2902) including end effectorscomprising photovoltaic material. In some embodiments, each rollingbellows actuator comprises a rhombus actuator. In some embodiments, thecontrol system and fluidic routing is able to independently control theangle of the end effector of each of the rolling bellows actuators. Insome embodiments, the angle of the end effector of each of the rollingbellows actuators is controlled in order to match the angle of the sun.In some embodiments, photovoltaic array mount 2904 is able to rotate onwheel 2906. In some embodiments, photovoltaic array mount 2904 is ableto rotate on wheel 2906 in order to match the direction of the sun.

FIG. 30 is a diagram illustrating an embodiment of a two dimensionalcontrol array. In some embodiments, control array 3000 comprises acontrol array for controlling a two dimensional array of bellowsactuators. In the example shown, control array 3000 comprises a set ofvertical lines (e.g., vertical line 3002). In various embodiments,control array 3000 comprises 4, 10, 29, 358, or any other appropriatenumber of vertical lines. In some embodiments, each vertical linecomprises a pressure supply line. In some embodiments, each verticalline comprises a pressure supply line at a high pressure. In someembodiments, each vertical line comprises a pressure supply line at adesired actuator pressure. In the example shown, control array 3000comprises a set of horizontal lines (e.g., horizontal line 3004). Invarious embodiments, control array 3000 comprises 6, 9, 35, 122, or anyother appropriate number of horizontal lines. In some embodiments, eachhorizontal line comprises a control line. In some embodiments, eachhorizontal line comprises an on/off control line (e.g., the voltage ofthe control line indicates to a valve whether to open or close). In theexample shown, control array 3000 comprises a set of actuator nodes(e.g., actuator node 3006). In some embodiments, the number of actuatornodes comprises the product of the number of horizontal lines and thenumber of vertical lines. In some embodiments, each actuator nodecomprises a valve. In some embodiments, each actuator node additionallycomprises a solar actuator connected to the valve. In some embodiments,the valve at an actuator node is connected to both the pressure supplyline at the actuator node (e.g., for supplying pressure) and the controlline at the actuator node (e.g., for indicating a control signal). Insome embodiments, the valve is configured such that when the controlline at the actuator node indicates an on signal, the pressure supplyline is connected to the solar actuator. In some embodiments, the valveis configured such that when the control line at the actuator nodeindicates an off signal, the pressure supply line is not connected tothe solar actuator. In some embodiments, when a control line indicatesan on signal, each solar actuator (e.g., at each actuator node) in thecontrol line row is connected to its corresponding pressure supply line.In some embodiments, the control signals (e.g., the signals sent on thecontrol lines) are designed such that only one control line indicates anon signal at a time.

In some embodiments, the valves associated with a collection of solaractuators are controlled using a valve control system comprising: asingle valve per chamber, a selector switch valve to connect one or morecommon fluidic sources to one, several, or all chambers, or a matrixmultiplexed or an array addressed set of chambers.

FIG. 31 is a diagram illustrating an embodiment of an actuator array. Insome embodiments, actuator array 3100 comprises an array of solaractuators (e.g., solar actuator 1900 of FIG. 19). In the example shown,actuator array 3100 comprises a ten by ten actuator array. In someembodiments, actuator array 3100 is controlled using a control array(e.g., control array 3000 of FIG. 30).

In some embodiments, the bottom coupler comprises the ground and theactuators are coupled to the coupler.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. A solar actuator system comprising: at least onefluidic actuator assembly that includes: a top coupler; an angled bottomcoupler having a top-end and respective first and second planar faces onopposing first and second sides of the top-end; at least a first andsecond fluidic inflatable actuator, with the first fluidic inflatableactuator disposed on the first side of the angled bottom couplerengaging the first planar face and the second fluidic inflatableactuator disposed antagonistically from the first fluidic inflatableactuator on the second side of the angled bottom coupler engaging thesecond planar face; a fixing structure that couples the top coupler tothe angled bottom coupler forming a linear one-degree-of-freedomrotatable joint between the top coupler and the angled bottom coupler,wherein the first and second fluidic inflatable actuators are configuredto antagonistically move the top coupler relative to the angled bottomcoupler about the linear one-degree-of-freedom rotatable joint betweenthe top coupler and the angled bottom coupler, and wherein position ofthe top coupler relative to the angled bottom coupler is generated atleast in part by: a first pressure of a first fluid in the first fluidicinflatable actuator, the first fluid being introduced to the firstfluidic inflatable actuator from a shared fluid source; and a secondpressure of a second fluid in the second fluidic inflatable actuator,the second fluid being introduced to the second fluidic inflatableactuator from the shared fluid source; one or more fluid carriers thatfluidically couple the shared fluid source to the first and secondinflatable actuators, the one or more fluid carriers comprising tubing;and a central electronic control configured to control the position ofthe top coupler relative to the angled bottom coupler in order to matchan angle of the sun by selectively introducing fluid from the sharedfluid source into the first and second fluidic inflatable actuators viathe one or more fluid carriers.
 2. The solar actuator system of claim 1,wherein the one or more fluid carriers comprises: a first fluid carrierthat fluidically couples the shared fluid source and the firstinflatable actuator, a second fluid carrier that fluidically couples theshared fluid source and the second inflatable actuator, and a thirdfluid carrier that fluidically couples the shared fluid source and afluidic mechanism of the fluidic actuator assembly.
 3. The solaractuator system of claim 1, wherein the first and second fluidicinflatable actuators have a bulbous teardrop profile.
 4. The solaractuator system of claim 1, wherein the angled bottom coupler isV-shaped.
 5. A solar actuator system comprising: at least one fluidicactuator assembly that includes: a top coupler; an angled bottom couplerhaving a top-end and respective first and second planar faces onopposing first and second sides of the top-end, the angled bottomcoupler coupled to the top coupler via a linear one-degree-of-freedomrotatable joint between the top coupler and the angled bottom coupler;and at least a first and second fluidic inflatable actuator, with thefirst fluidic inflatable actuator disposed on the first side of theangled bottom coupler engaging the first planar face and the secondfluidic inflatable actuator disposed antagonistically from the firstfluidic inflatable actuator on the second side of the angled bottomcoupler engaging the second planar face.
 6. The solar actuator system ofclaim 5, wherein the first and second fluidic inflatable actuators areconfigured to antagonistically move the top coupler relative to theangled bottom coupler about the linear one-degree-of-freedom rotatablejoint between the top coupler and the angled bottom coupler.
 7. Thesolar actuator system of claim 5, wherein position of the top couplerrelative to the angled bottom coupler is generated at least in part by:a first pressure of a first fluid in the first fluidic inflatableactuator, the first fluid being introduced to the first fluidicinflatable actuator from a shared fluid source.
 8. The solar actuatorsystem of claim 7, wherein position of the top coupler relative to theangled bottom coupler is further generated at least in part by: a secondpressure of a second fluid in the second fluidic inflatable actuator,the second fluid being introduced to the second fluidic inflatableactuator from the shared fluid source.
 9. The solar actuator system ofclaim 5, further comprising: a central electronic control configured tocontrol position of the top coupler relative to the angled bottomcoupler in order to match an angle of the sun by selectively introducingfluid from a shared fluid source into the first and second fluidicinflatable actuators via one or more fluid carriers.
 10. The solaractuator system of claim 5, wherein the angled bottom coupler isV-shaped.
 11. A solar actuator system comprising: at least one actuatorassembly that includes: a top coupler; an angled bottom coupler having atop-end and respective first and second faces on opposing first andsecond sides of the top-end, the angled bottom coupler coupled to thetop coupler via a one-degree-of-freedom joint between the top couplerand the angled bottom coupler; and at least a first and second actuator,with the first actuator disposed on the first side of the angled bottomcoupler and the second actuator disposed on the second side of theangled bottom coupler.
 12. The solar actuator system of claim 11,wherein the angled bottom coupler is coupled to the top coupler via anelongated linear one-degree-of-freedom joint between the top coupler andthe angled bottom coupler.
 13. The solar actuator system of claim 11,wherein the angled bottom coupler is coupled to the top coupler via arotatable one-degree-of-freedom joint between the top coupler and theangled bottom coupler.
 14. The solar actuator system of claim 11,wherein the angled bottom coupler comprises first and second planarfaces on the opposing first and second sides of the top-end.
 15. Thesolar actuator system of claim 11, wherein the second actuator isdisposed antagonistically to the first actuator on the second side ofthe angled bottom coupler.
 16. The solar actuator system of claim 11,wherein the first and second actuators are configured toantagonistically move the top coupler relative to the angled bottomcoupler about the one-degree-of-freedom joint between the top couplerand the angled bottom coupler.
 17. The solar actuator system of claim11, wherein position of the top coupler relative to the angled bottomcoupler is generated at least in part by: a first pressure of a firstfluid in the first actuator, the first fluid being introduced to thefirst actuator from a shared fluid source.
 18. The solar actuator systemof claim 11, further comprising: an electronic control configured tocontrol position of the top coupler relative to the angled bottomcoupler by selectively introducing fluid from a shared fluid source intothe first and second actuators via one or more fluid carriers.
 19. Thesolar actuator system of claim 11, wherein the angled bottom coupler isV-shaped.
 20. The solar actuator system of claim 11, further comprising:a first fluid carrier that fluidically couples a fluid source and thefirst actuator, a second fluid carrier that fluidically couples thefluid source and the second actuator, and a third fluid carrier thatfluidically couples the fluid source and at least one system of the atleast one actuator assembly.